Wireless Position Location And Tracking System

ABSTRACT

Techniques for accurate position location and tracking suitable for a wide range of facilities in variable environments are disclosed. In one aspect, a system for position location comprises a plurality of sensors (e.g. a network monitor, an environment sensor) for generating measurements of a plurality of sources, a plurality of objects or tags, each object generating measurements of the plurality of sources, and a processor for receiving the measurements and generating a position location for one or more objects in accordance with the received measurements. In another aspect, a position engine comprises a mapped space of a physical environment, and a processor for updating the mapped space in response to received measurements. The position engine may receive second measurements from an object within the physical environment, and generate a position location estimate for the object from the received second measurements and the mapped space.

CROSS-REFERENCES OF RELATED APPLICATIONS

The Present application is a Continuation Application of U.S. patentapplication Ser. No. 11/925,736, filed on Oct. 26, 2007, which is aDivisional Application of U.S. patent application Ser. No. 10/968,814,filed on Oct. 18, 2004, now U.S. Pat. No. 7,312,752, which claimspriority to Provisional Application No. 60/513,784, filed Oct. 22, 2003,now abandoned, Provisional Application No. 60/528,052, filed Dec. 9,2003, now abandoned, and Provisional Application No. 60/572,690, nowabandoned, and all hereby expressly incorporated by reference herein.

BACKGROUND OF THE INVENTION

1. Field of the Invention

The present invention relates generally to communications, and morespecifically to a wireless position location and tracking system.

2. Description of the Related Art

There is a well-established demand for the ability to track the locationof various objects and/or persons within various environments. Owners ofvarious assets may want to be able to locate those assets with precisionat any time, in order to make efficient use of them (i.e. for deploymentor re-deployment in response to varying demand). Security applicationsmay include locating missing equipment, or preventing the loss ofequipment.

Satellite tracking systems, such as the Global Positioning System (GPS),and others, may be used to provide location determination around theglobe. Satellite tracking systems generally do not perform well insidebuildings, or in other locations where the satellite signals are notreadily receivable.

Radio Frequency Identification (RFID) systems are being developed totrack and locate items within defined areas. Passive RFID systems arelimited to detecting the presence of an item within range of a portal.Typically, a portal or interrogator sends out a query signal and any tag(i.e., a device included in or attached to an object to be tracked)within range responds. Passive RFID tags generally do not have a powersource.

Active RFID systems function in a similar manner, but the active tagshave a power source, typically a battery, for longer range operation.RFID systems (active and passive) require installing a dedicatedinfrastructure of portals or interrogators for tracking which may bedifficult or expensive to deploy, and may lack flexibility.

Other systems employ RF fingerprinting, whereby mobile devices measuresignal strength from one or more beacons and attempt to correlate thosemeasurements with signature measurements taken throughout the definedarea. One example is the RADAR system. (See P. Bahl and V. N.Padmanabhan, “Radar: An In-Building RF-based User Location and TrackingSystem”, in Proceedings of the IEEE Infocom 2000, Tel-Aviv, Israel, vol.2, March 2000, pp. 775-784). One drawback of systems such as these isthat the signature measurements are taken infrequently, and themeasurement task may be cumbersome and expensive. The RF environment maychange significantly throughout any given time period, and the accuracyof the location calculation will be degraded accordingly.

Other systems employ triangulation, whereby fixed devices measure thesignal strength or propagation delay of a mobile device and use thisinformation in conjunction with the known location of the fixed deviceto compute the location of the mobile device. These systems requireinstalling a dedicated infrastructure of fixed devices for tracking,which may be difficult or expensive to deploy, and may lack flexibility.

There is therefore a need in the art for an accurate position locationand tracking system suitable for a wide range of facilities in variableenvironments.

BRIEF SUMMARY OF THE INVENTION

An accurate position location and tracking system suitable for a widerange of facilities in variable environments is disclosed. In oneaspect, a system for position location comprises a plurality of sensors,each sensor for generating a first plurality of measurements of aplurality of sources, a plurality of objects, each object generating asecond plurality of measurements of the plurality of sources, and aprocessor for receiving one or more of the first pluralities ofmeasurements and one or more of the second pluralities of measurementsfrom the plurality of objects, and generating a position location foreach one or more of the plurality of objects in accordance with thereceived first pluralities of measurements and the respective receivedsecond plurality of measurements.

In another aspect, one or more tags may be deployed, each comprising areceiver for receiving a plurality of beacon signals, a processor forgenerating positioning information in response to the received pluralityof beacon signals, and a transmitter for transmitting the positioninginformation.

In another aspect, a sensor may comprise a network monitor comprising areceiver for receiving a plurality of signals from a plurality ofsources, measurement circuitry for measuring one or more attributes ofthe plurality of received signals to produce a plurality ofmeasurements, and a transmitter for transmitting the plurality ofmeasurements to a remote position location estimation device, such as aposition engine.

In another aspect, position engine comprises a mapped space of aphysical environment, a receiver for receiving first measurements of thephysical environment from one or more sensors, and a processor forupdating the mapped space in response to the received measurements. Inanother aspect, the receiver further receives second measurements froman object within the physical environment, and the processor generatesan object position location estimate for the object from the receivedsecond measurements and the mapped space.

Various other aspects are also presented.

BRIEF DESCRIPTION OF SEVERAL VIEWS OF THE DRAWINGS

FIG. 1 is an example embodiment of a system for position location andtracking;

FIG. 2 depicts a prior art wireless tracking system;

FIG. 3 depicts an example embodiment of a positioning engine;

FIG. 4 is an example method for creating a mapped space;

FIG. 5 is an example method for determining position location;

FIG. 6 depicts an example embodiment of a network monitor;

FIG. 7 is an example method for network monitoring;

FIG. 8 depicts an example embodiment of a tag;

FIG. 9 is an example method for updating a tag location;

FIG. 10 depicts an example method for transmission of parameters inresponse to detected motion;

FIG. 11 is an example method for use in a mobile device or tag toindicate whether it is in motion or stationary;

FIG. 12 depicts an example method for configuration of a device such asa mobile device or network monitor;

FIG. 13 depicts an example embodiment of a beacon emitter;

FIG. 14 depicts an example embodiment of an access point;

FIG. 15 is an example method for performing position location;

FIG. 16 depicts an example method for creating and maintaining a mappedspace;

FIG. 17 depicts an example embodiment of a positioning engine;

FIG. 18 depicts an alternate embodiment of a positioning engine;

FIG. 19 depicts yet another alternate embodiment of a positioningengine;

FIG. 20 depicts another alternate embodiment of a positioning engine;

FIG. 21 is an example embodiment of a method for determining an averagelocation of a mobile device that is not moving;

FIG. 22 depicts an example method for performing correction to computedmeasurements;

FIG. 23 depicts a variety of techniques for using a displacement vectorin determining a new computed location;

FIG. 24 is an example method for applying a displacement vector torefine decision location results;

FIG. 25 illustrates the use of known barriers to refine positioningestimates;

FIG. 26 depicts an example method for selecting location hypotheses foruse in making a computed location determination; and

FIG. 27 depicts various examples of position results.

DETAILED DESCRIPTION OF THE INVENTION

One or more exemplary embodiments described herein are set forth in thecontext of a wireless data communication system. While use within thiscontext is advantageous, different embodiments of the invention may beincorporated in different environments or configurations. In general,the various systems described herein may be formed usingsoftware-controlled processors, integrated circuits, or discrete logic.The data, instructions, commands, information, signals, symbols, andchips that may be referenced throughout the application areadvantageously represented by voltages, currents, electromagnetic waves,magnetic fields or particles, optical fields or particles, or acombination thereof. In addition, the blocks shown in each block diagrammay represent hardware or method steps. The word “exemplary” is usedherein to mean “serving as an example, instance, or illustration. Anyembodiment described herein as “exemplary” is not necessarily to beconstrued as preferred or advantageous over other embodiments.

Position Location System

According to one aspect of the invention, a model of an environment inwhich an object is to be located is maintained. The environmentcomprises a physically mappable space. One or more sensors may bedeployed throughout the space to monitor the environment and providefeedback to what may be referred to as a “positioning engine”, which maybe a central, or distributed computing resource for receiving feedbackfrom one or more sensors and maintaining a mapping of the environment,referred to as a “mapped space.” An object to be located transmitsinformation comprising one or more measurements to the positioningengine, which projects the object information onto the mapped space anddetermines the object's location therefrom.

FIG. 1 depicts system 100 for position location of various deviceswithin the system. In this example embodiment, object 170 providesinformation allowing its location to be determined within an area of afacility covered by system 100. Positioning engine 110, detailed furtherbelow, may be used for determining the position of and tracking of oneor more objects 170 within the system.

Positioning engine 110 may receive a position query from an externalapplication, or an end user. In response to a position query,positioning engine 110 provides a position response. The positionresponse may include various information, such as the coordinates of theobject, which may be two-dimensional, in which case an (X, Y) positionmay be returned, or a three-dimensional position (X, Y, Z) may bereturned. In addition, other parameters such as a confidence level for aposition (or area within which a position is expected) may be returned.Various other types of position responses may be returned, examples ofwhich are detailed further below.

In the example embodiment, object 170 may be any object or asset forwhich tracking is desired. An object 170 may also be referred to hereinas a mobile device or a tag. A tag may be a device that is attached tothe object for which tracking is desired, example embodiments of whichare detailed below. In an alternative embodiment, object 170 mayincorporate the circuitry required to perform wireless tracking, asdescribed herein. Object 170 receives wireless signals transmitted fromvarious beacon emitters 130. A plurality of beacon emitters 130 may bedeployed for generating beacons, or more generically as source signals,throughout some or all of the environment. Object 170, after receivingand measuring characteristics of the received beacon signals, andoptionally measuring other environment parameters, transmits themeasurements to positioning engine 110 via one of a variety ofconnections. In this example object 170 communicates with Access Point(AP) 180B over wireless link 190B. Access points are well known in theart. In the example embodiment, an IEEE 802.11 Wireless Local AccessNetwork (WLAN) may be deployed. Example WLANs include IEEE standards802.11 (802.11a-g, for example), IEEE 802.15.4, and derivatives thereof.

Any other wireless communications standard or specification may also bedeployed. Example cellular-based data systems include: (1) the“TIA/EIA-95-B Mobile Station-Base Station Compatibility Standard forDual-Mode Wideband Spread Spectrum Cellular System” (the IS-95standard), (2) the standard offered by a consortium named “3rdGeneration Partnership Project” (3GPP) and embodied in a set ofdocuments including Document Nos. 3G TS 25.211, 3G TS 25.212, 3G TS25.213, and 3G TS 25.214 (the W-CDMA standard), (3) the standard offeredby a consortium named “3rd Generation Partnership Project 2” (3GPP2) andembodied in “TR-45.5 Physical Layer Standard for cdma2000 SpreadSpectrum Systems” (the IS-2000 standard), and (4) the high data rate(HDR) system that conforms to the TIA/EIA/1S-856 standard (the IS-856standard).

Access point 1808 communicates with positioning engine 110 over networkconnection 160B. It will be clear to those of skill in the art that anynumber of wireless and wired networks may be deployed, consistent withthe principles disclosed herein. In this example, positioning engine 110communicates over two wired networks, 160A and 160B. Wireless network160A connects the positioning engine 110 with access point 180A, as wellas a network monitor 120B.

Network monitors 120, also referred to as conditioners, calibrators, orsensors, may be deployed throughout the facility covered by system 100to monitor and measure various environmental parameters associated withthe network. The sensors 120 may measure one or more attributes of thesignal (which may be any type of signal, including but not limited to anRF signal).

The plurality of sensors 120 may measure the surrounding physicalenvironment and report to the positioning engine 110 any number ofmeasurements, including temperature, humidity, signal characteristics ofbeacon emitters 130 and/or other noise or signal sources, etc. Thefeedback may be provided over time, such that characterization of theenvironment, correlated with one or more measurements, may bedetermined. For example, the effects of the reception of one or morebeacons may be characterized as a function of temperature, humidity, orboth. The feedback may be provided over any network or combination ofnetworks, such as network 160 or 190.

In an alternative embodiment, the environment may inherently contain oneor more signal sources that the sensors may measure and send to thepositioning engine 110. These inherent signal sources may change overtime, and may or may not be designed for providing the signal formeasurement. A source may be another communication system or device notassociated with the location system, or it may be have no deliberatecommunication function, i.e. it may be a noise source 150 or what wouldotherwise be characterized as a jammer signal 140.

A network monitor 120 delivers the measurements to positioning engine110 over any type of network (i.e. wireless or wired networks). Anetwork monitor is one type of sensor. In this example network monitor120B communicates with positioning engine 110 on wired network 160A.Note that network monitor 120C communicates with access point 180B overwireless link 1908. Network monitor 120A communicates with access point180A over wireless link 190A. The wireless links depicted need notconform to identical communication standards (i.e., one may be an 802.11standard, while another may conform to another standard orspecification, such as a cellular data or other wireless dataconnection).

Another example wireless LAN is the IEEE 802.15.4 standard, which may bedeployed in a mobile device for communication using lower power. In oneembodiment, a low power 802.15.4 radio link may be used to communicatebetween objects 170, while simultaneous communication links with 802.11access points may also be supported.

In an alternate embodiment, not depicted in FIG. 1, detailed furtherbelow, an object 170 may communicate directly with a network monitor 120over a wireless link. In such an example the wireless link between theobject 170 and the network monitor 120 may be a low power link, such asan 802.15.4 link, while the network monitor 120 communicates with anaccess point 180, for ultimate communication with position engine 110,over another WLAN (802.11, for example).

Also shown in FIG. 1 is a wireless link 190A between access point 180Aand beacon emitter 130C. In one embodiment, a beacon emitter may beprogrammable, so as to configure the type of beacon signal transmitted.A beacon emitter may also be configured to send any other informationthat may be desirable to transmit or broadcast along with the beaconsignal. This may be accomplished through a wired or wireless connectionto a beacon emitter. For example, beacon emitter 130B is shown connectedwith access point 180B and is connected to positioning engine 110 withwired network link 160B. Note that beacon emitter 130A is not connectedto positioning engine 110 through any network connection. Thisillustrates an example of a beacon emitter that is preconfigured totransmit a beacon signal and does not need to be configurable whileoperating within the system.

The combination of beacon emitter 130B and access point 180B identifiesanother aspect of the present invention. An access point 180 may be usedas a beacon emitter. For example, an 802.11 access point transmits aknown periodic signal, which may be used for measurement by an object170 as well as sensors 120 within the network. It is also possible tocombine beacon emitters with network monitors, and a network monitor mayalso be combined with an access point. Various alternative embodimentsare detailed further below.

Note also jammer 140 is shown in system 100. In some context, a jammeror noise source, such as noise source 150, may also produce anidentifiable signature that may be measured by sensors and objectswithin the network. In this example, object 170 receives and measuressignals from noise source 150 and jammer 140. Network monitors 120A and120C also receive noise source 150 as well as the signal from jammer140. This information may be transmitted to positioning engine 110 foruse in position location.

Positioning engine 110 may also associate various measurements withother parameters, such as time of day, day or week, etc. Measurementsmay also be averaged over time. Sequences of measurements may be storedover a certain period and transmitted in bulk as desired.

In the example embodiment depicted in FIG. 1, the various sensors and/ornetwork monitors may periodically measure environment conditions withinthe system at any rate desired. Thus, positioning engine 110 isperiodically updated with refreshed data that may vary according tochange in environment conditions. Other measurements of environmentvariables, such as temperature, humidity, time, etc., may be transmittedalong with the measurements to allow for correlation of measurementsassociated with those indexing parameters. Thus, when an object 170 istracked or located within the system, the measurements received from theobject may be used to determine a location in accordance with an updatedor current measurement of the environment. In a broad conception,positioning engine 110 maintains a model of the environment (or mappedspace) in which an object is to be located.

An object 170, within the mappable three-dimensional space, makesmeasurements from one or more beacon emitters 130, or other sources,such as noise source 150 or jammer 140. Upon some triggering event, i.e.motion, sensor input, timer expiration, direction from a controllingdevice (such as a positioning engine 110), or a condition being met inaccordance with one or more parameters (which may be pre-defined, orupdated and transmitted to the object 170), the object 170 may transmitthe measurement information across a network. The object 170 may alsotransmit information about the triggering event across a network. Notethat, in an alternate embodiment, an alternate communication link may bedeployed to communicate with one or more objects 170 (as describedabove). Thus, the object feedback network may be separate from thenetwork 160 on which the sensors 120 provide feedback. Note further thatthe beacon emitters may be connected on a network, which may beconnected to a controlling device (i.e. positioning engine 110, or someother device, details not shown). The beacon emitter's network may be awireless network that may be used in whole or in part to provide thesignal for monitoring and measurement by sensors 120 and objects 170.Alternatively, the beacon emitter's network may be separate. In anexample embodiment, a Wireless Local Area Network (WLAN), such as anIEEE 802.11 network, is deployed and shared for communication withbeacon emitters 130, sensors 120, objects 170, and positioning engine110. Various other communication data, not used for location services,may also be transported on one or more of the above referenced networks(details not shown).

To determine the location of devices 170 in any given facility, theradio frequency (RF) environment in the facility may be measured. Duringthis calibration procedure, one or more network monitors are placed atknown locations in the facility. RF data from each device is measuredand transmitted to positioning engine 110 (also referred to as aLocation Positioning Engine (LPE)). A network monitor is also referredto as a conditioner, sensor, calibrator, or calibration device. The RFdata is recorded along with the actual location of the network monitorto produce an RF data map of the environment. Such a data map is oneexample of a mapped space.

RF data measured by the network monitor 120 may include signal strengthfrom beacon emitters 130, (which may be emitted by access points 180),signal strength of data from other mobile devices 170, ambient radiofrequency noise in the environment (including a plurality of differentfrequencies), environmental information, (which may include ambient airtemperature, ambient air humidity, and other measurable parameters ofthe environment), and any of the above information being transmitted tothe network monitor 120 from one or more mobile devices.

In one embodiment, access point beacons are used as the RF data. Forexample, a WLAN access point may transmit beacons at regular intervals(e.g. 100 ms). A beacon may be a packet of data regularly transmitted byan access point in a WLAN containing WLAN configuration parameters toallow a WLAN device to communicate with the access point emitting thebeacon. In an example embodiment, the network monitor 120 receivesbeacons from each WLAN access point 180 that is within range (i.e. anyaccess point that the network monitor 120 can detect) for apredetermined time interval (e.g. five seconds).

In an example embodiment, a network monitor performs a statisticalanalysis (for example, determining the average, or Variance, or othermethods known in the art) on the access point beacon signal strengthmeasurements prior to transmitting this data to the positioning enginevia the WLAN. The known location of the network monitor is associatedwith the received data and stored in the positioning engine, thuscreating an RF data map of the environment. Any technique may be usedfor entering the known location data into the positioning engine andassociating the resulting measurements with those data. Examples aredetailed further below.

The calibration routine may be performed continually (eitherperiodically, intermittently, upon certain triggering events, etc.),with the positioning engine receiving RF data from the network monitorsand updating the RF data map whenever new data is received. In analternate embodiment, detailed further below, the RF data map consistsof data points measured once (or infrequently) as well as data pointsthat are continually adjusted.

When the RF data is received from a network monitor, the positioningengine may perform a statistical analysis (for example, determining theaverage, or variance, or other methods known in the art) on the receiveddata to determine the quality of each datum. This information may bestored along with the RF data and may be used when computing location.Example techniques for computing location are detailed below.

In an example embodiment, the system 100 is installed in a facility witha wireless local area network (WLAN) 190 using the IEEE 802.11gstandard. This WLAN consists of one or more Access Points (APs) 180connected to a Location Positioning Engine (LPE) 110. This facility (forexample a hospital with several floors) also has several networkmonitors 120 plugged into wall outlets. Most network monitors arelocated on the perimeter of the facility. There is approximately onenetwork monitor for every one thousand square feet of the facility. Thelocation of the network monitor is stationary and known to our system.For example, a network monitor may be located at a wall power outlet.This facility also has many tags 170 mounted on assets throughout thefacility.

In this example, the APs transmit beacons periodically, for example,every 100 ms. The network monitors regularly (e.g. once a minute) listenfor these beacons, measure the signal strength from them, and transmitthis information (APED and signal strength) to the Location PositioningEngine. The LPE builds a model of the RF environment using a RadialBasis Function, although other neural network algorithms may beemployed.

In this example, some tags are configured to transmit location data whenthey stop moving. Other tags are configured to transmit location data onregular intervals (e.g. once per day). This configuration can be changedby a user on a remote machine. A configuration may be applied tomultiple tags. When the battery on a tag falls below a predefinedthreshold the tag wakes up and transmits an alert message to a user. Thetags also transmit alert messages when detached from assets. Theseaspects, along with many others, are detailed further below.

Using Data Received from Fixed Devices to Modify Static CalibrationPoints

FIG. 2 depicts a wireless tracking system as known in the prior art;such a system may be as disclosed, for example, in the RADAR system. Inthis type of system, the facility in which objects may be tracked ismapped into a variety of calibration points 220. In the prior artcalibration points 220 are static calibration points, meaning that ameasurement is made at one time (even if averaged over a fixed period oftime) for each point. The measurements are stored, associated with theknown locations of the static calibration points. The data for all ofthe static calibration points 220 are then used in position location.Beacon emitters 210A-D, in this example, provide the signals on whichmeasurements are to be made. Thus, at static calibration point 220A, forexample, the expectation would be that the measurement of beacon 250A isstronger than the beacons 250B-D. Static calibration point 220P mayreceive its strongest measurement of 250D, and so forth. Ideally, ateach static calibration point a unique set of measurements identifiesthe location point. Thus, when an object to be located 230 movesthroughout the facility, it may make measurements of the beacon signalsreceived 210. Measurements of these signals may be transmitted over awireless link to an access point 240. These measurements may be used fora position determination using any of the variety of techniques known inthe art.

The drawback of such techniques is that, in practice, the radiofrequency environment changes based on external environmentalconditions. Thus, the accuracy of the location determination will varydepending on how closely the current environment matches the environmentin which the static calibration was measured. Stationary objects appearto move because the environment constantly modulates. Manual calibrationmay be cumbersome and costly, and is unlikely to occur frequently enoughto provide the desired level of accuracy.

In contrast, the example embodiment depicted in FIG. 1 may continuously(including periodically or intermittently) measure and provide feedbackon the current environmental conditions. Position location determinationmay then be made more accurately based on the updated model (and inaccordance with other environmental variables that may be measured).Example embodiments of these techniques are detailed further below.

In an alternate embodiment, not shown, a map of static calibrationpoints such as that depicted in FIG. 2 may be combined with a systemsuch as system 100 in FIG. 1. In this combination, network monitors 120provide continual updates of the system environment, which may be usedto adjust the position location determination, and the staticcalibration points may also be used to determine position. In otherwords, the mapped space may comprise a combination of continuouslyupdating values as well as static calibration data.

In this example, there may be calibration points that are determined byobserving the RF data at that location for an amount of time and thenaveraging this RF data to compute the average RF data for each datapoint in this data. Recall that static calibration points do not changeover time (contrast this with a dynamic calibration point whichcontinuously receives updates from a network monitor). However, if anetwork monitor is near a static calibration point then the system maymodify the static calibration point based on: (a) the difference betweenan RF data measurement at a first point in time and an RF datameasurement at a second point in time, the difference measured at thenearby network monitor; and (b) the distance between the staticcalibration point and a network monitor.

If a network monitor is very close to a static calibration point (i.e.,the Euclidian distance between the two is small) then, as the RF datareceived by that network monitor changes from its initial values, thesystem may change the RF data stored with the static calibration point.The system may change each RF data value in the static calibration pointin proportion to the difference between the network monitor's initial RFdata and its current measured RF data. For example, consider a networkmonitor having initial RF data measurements of S, =4 and S2=6, (wherebyS, is one RF characteristic that may be measured and S2 is a second RFcharacteristic that may be measured) and a static calibration pointhaving initial RF data measurements of S=0 and S2=1. After a period oftime, if the network monitor measures a new RF data value of S1=6 andS2=9, then the system may change the static calibration stored RF Datato be S1=(0+2)=2 and S2=(1+3)=4. This information may now be used by thepositioning engine to calculate locations.

If more than one network monitor is nearby a static calibration point,then the change in RF data at each network monitor may affect the staticcalibration point inversely proportional to the distance between thenetwork monitor and the static calibration point. Equation 1 representsthis effect: S=S+Average S″ S″+SZ′ sZ′+S3′ S3′+ . . . S>>, c-S>>, 1 Nezold D, DZ D3 D″ Where: SNEW=the new RF data point for the calibrationpoint; SOLD=the current stored RF data point for the calibration point;Sn, c=the value of this RF data point calculated by network monitor n;Son, I the initial value of this RF data point for network monitor n;and Don=the distance between the location of this calibration point andthe location of network monitor n. This average function may also usestatistical methods including Kalman Filtering.

FIG. 3 depicts an example embodiment of positioning engine 110. A subsetof components and functions typically found in a positioning engine areshown, for clarity of discussion. Network monitor information isreceived in network monitor updating function 310. Network monitorinformation may be periodically transmitted, transmitted based on one ormore triggering events (i.e. a change in one or more measuredenvironment variable, etc.), or in response to a directive from thepositioning engine, such as a command or message. Network monitorupdating function 310 may use one or more of the measurements, inconjunction with measurements from other sensors and/or objects,including past measurements, to update the mapped space 320. Variousrepresentations of a mapped space will be apparent to those of skill inthe art. Mapped space 320 is stored in a memory in the exampleembodiment.

The mapped space 320, which is a three-dimensional space in an exampleembodiment, may be estimated for locations interspersed between thenetwork monitors using interpolation techniques, and may be updated overtime. In alternate embodiments, the space may be two-dimensional, orcomprised of one or more two-dimensional spaces associated with valuesof a third dimension to produce a three-dimensional mapped space. Themapped space 320 may be monitored and mapped, over time, according tochanging variables such as temperature, humidity, etc., as describedabove. Any of the environmental variables may be recorded and monitoredsuch that the expected behavior of the signals (i.e. from a beaconemitter 130 or noise source 150) may be interpolated to locations withinthe space outside of those associated with network monitors.

A mapped space of the mappable environment in which an object may belocated is generated in the positioning engine 110. A three-dimensionalspace may be created by retrieving information from a plurality ofnetwork monitors 120 distributed throughout the space, whose x, y, and zcoordinates are known. (A two-dimensional space may also be generated.)Each network monitor 120 may monitor and measure signals from one ormore of a plurality of beacon emitters 130, or other sources, asdescribed above. Note that a network monitor and a beacon emitter may beco-located, or combined in one device. As detailed further below, anobject 170 may also serve as a network monitor or beacon emitter, invarious alternate embodiments. Such an alternative may be particularlyuseful when an object has been located with a predetermined level ofaccuracy.

Object information, such as one or more measurements received from oneor more objects 170, is received by projection function 330, and alocation for the one or more objects is determined in accordance withmapped space 320. Note that, in an example embodiment, a measurementfrom an object may be used as a parameter or index into the mappedspace, which is a representation of the potentially changing mappablephysical space. The mapped space may be modified in response to variouschanges and uncertainties in the environment. Then the measurements fromthe object 170 may be used to project into the modified space. This maybe performed in addition to attempting to modify or compensate forenvironmental changes in measurements from an object 170.

FIG. 4 depicts example method 400 for creating a mapped space, such asfor example system 100. This method may be applied to continuously(including periodically or intermittently) updating the mapped space.The process begins in block 410, where beacons are transmittedthroughout the facility or area in which objects are to be tracked. Notethat each beacon need not be receivable throughout the entire facility,but a facility may incorporate multiple beacons, one or more of whichgenerally should be receivable at each location within the desiredtracking area. Beacons may be transmitted as known signals, and may beany other noise source or jammer signal as well, as described above.

In block 420, various devices throughout the facility, such as networkmonitors 120, measure the beacons or mobile devices to be tracked 170.The beacons may be measured at network monitors, static mobile stations,access points, beacon emitters, any device containing a combination ofone or more of the above, etc.

In block 430, measurements are transmitted to a positioning engine suchas positioning engine 110. The transmission may be over a wireless link,through a wired connection, communicated through a power grid, anycombination thereof, or any other type of communication link.

In block 440, the mapped space is updated in response to the receivedmeasurements. The process may then repeat and may be repeated for aslong as tracking is desired. Note that in one embodiment, networkmonitor measurements are used to update the mapped space, whilemeasurements from mobile stations 170 are used only for positionlocation for that device. Alternate embodiments may allow for one ormore of the mobile devices' measurements also to be used to update themapped space. For example, as detailed below, the measurements fromstationary mobile devices may be used to update the mapped space whenthe location of the stationary mobile device is known to within apredetermined degree of certainty. When that mobile station moves, inthis example, the measurements will again be used for location only, notfor updating the mapped space. Various other combinations will bereadily ascertained by those of skill in the art in light of theteaching herein.

In block 440, the mapped space may be comprised of one or more models,one or more subspaces, etc. The mapped space may be updated using otherfactors such as temperature, time, and humidity, calculations from otherpositioning engines, or any other known location data (such as staticcalibration points, for example).

FIG. 5 depicts an example method 500 for determining position locationwithin a system such as system 100. The process starts in block 510where one or more beacons are measured at one or more mobile objects(tags), i.e. objects or tags 170.

In block 520, each mobile object or tag 170 transmits measurements topositioning engine 110. Various alternatives for the number oftransmissions, the frequency of transmissions, etc., may be deployed.The frequency of transmission need not be identical for any two objects,and need not be periodic. For example, transmissions may be eventdriven. Some example embodiments are detailed further below.

In block 530, determine the location of one or more tags in accordancewith the transmitted measurements and the mapped space (such as thecontinuously updated mapped space described with respect to FIG. 4above).

Various applications may interface with a location positioning enginesuch as position engine 110. Applications may communicate via any one ofthe numerous networks described above or may have alternate connectionswith the positioning engine. Various applications may produce queriesand receive responses regarding the location of one or more assets to betracked within the system. In addition, a positioning engine may beprogrammed to generate certain alarms based on predefined rule sets. Forexample, when an asset of a certain class travels outside a predefinedarea, an alarm may be generated to notify one or more applications(including an application for notifying an end user) that the alarmcondition has been triggered. Various applications may also have suchrules built-in for performing tracking, information gathering, locationdetermination, and other activities in a separate application. In analternate embodiment the positioning engine may be programmable toperform these tasks as well.

Network Monitor

FIG. 6 depicts an example embodiment of a network monitor 120. Only asubset of components of a network monitor 120 is shown, for clarity. Inthis example, WLAN interface 620 is connected with one or more antennas610A-N. WLAN interface 620 is used to receive and measure signals in theRF environment, primarily the signals from beacon emitters 130, butpossibly also including other jammers and/or noise sources that are inthe RF environment, if desired. Network interface 650 is shown connectedto positioning engine 110. This network interface may be a wired orwireless connection. A dashed line connection to antennas 610 indicatesthat network interface 650 may use a wireless interface to communicatewith positioning engine 110 as well. Antennas 610 may or may not beshared between WLAN 620 and network interface 650 in such an example(i.e., a separate antenna or set of antennas may be deployed).

Sensors 630 are shown connected to network interface 650. Sensor 630 maymeasure other environment variables local to the network monitor 120such as temperature, humidity, RF noise, etc. In an alternateembodiment, sensors 630 need not be deployed.

Bridge 640 is deployed between WLAN interface 620 and network interface650. This optional component may be deployed to produce a network bridgebetween one network and another. For example, WLAN 620 may be used tocommunicate with tags 170 using a wireless interface, such as 802.11,802.15.4, or any other standard. Bridge 640 may be used to transfertraffic from mobile devices through WLAN 620 to any network connected tonetwork interface 650, which may use an alternate network such as awired network or an alternate wireless network. In the exampleembodiment, a network monitor is equipped with a connection to anexternal power supply. This power supply may comprise a network forcommunication with positioning engine 110. (In an alternate embodiment,a network monitor may comprise a battery or other local power generationsource.)

Processor 660 is shown connected to various devices in FIG. 6 and maydirect the communication between any of the above-described devices. Oneor more of the functions described as being contained in a discretecomponent of FIG. 6 may also be performed in processor 660, such asbridging network traffic from WLAN 620 to network interface 650,performing processing for either WLAN or network interface, sensorcontrol, or measurement computation.

Processor 660 may be a general-purpose microprocessor, a digital signalprocessor (DSP), or a special-purpose processor. Processor 660 may beconnected with special-purpose hardware to assist in various tasks(details not shown). Various applications (position based applications,for example, as well as any other type of applications) may be run onexternally connected processors, such as an externally connectedcomputer or over a network connection, may run on an additionalprocessor within network monitor 120 (not shown), or may run onprocessor 660 itself. Processor 660 is shown connected with memory 670,which may be used for storing data as well as instructions forperforming the various procedures and methods described herein. Those ofskill in the art will recognize that memory 670 may be comprised of oneor more memory components of various types, that may be embedded inwhole or in part within processor 660.

Note that WLAN 620 may include multiple radios for communicating onmultiple wireless interfaces. In an example embodiment, WLAN interface620 may be used to communicate with tags 170 or other wireless deviceswithin range, in addition to measuring the RF environment. In analternate embodiment, a network monitor may simply contain a measurementdevice for connection to antenna 610 for receiving and measuring thebeacons and a network interface to transmit those measurements usingWLAN interface 620 to positioning engine 110.

In an alternate embodiment, a network monitor may also measure thewireless transmissions from a tag. Such measurements may be transmittedto the location positioning engine and used in locating that tag ormobile device. For example, if a network monitor measures a strongsignal from a tag (i.e., a measurement exceeding a predeterminedthreshold), it may be determined that the tag is located nearby thenetwork monitor. If one or more additional network monitors measure thetransmissions from the tag, the position location determination may beassisted for that tag (i.e. triangulation). This position locationmethod may be combined with various others, examples of which aredetailed further below.

FIG. 7 depicts example method 700 for network monitoring. The processbegins in block 710 where the network monitor receives one or morebeacons. In block 720, the network monitor computes signal measurementsfor one or more of the beacons received. In block 730, the networkmonitor may optionally measure other parameters such as temperature,humidity, signal strength of wireless devices, other RF noise, etc. Inblock 740 the network monitor transmits one or more of thesemeasurements to a positioning engine, such as positioning engine 110.

In decision block 750 the process may pause until it is time to measureparameters again, in which case the process repeats beginning in block710. The measurement process may be periodic. Alternatively,measurements may be based on whether or not changes have occurred in theenvironment. In an alternate embodiment, not shown, a network monitormay store various measurements along with a timestamp and themeasurements may be transmitted in bulk to the positioning engine asdesired. Bulk transmission may also be performed periodically or may beperformed based on some predetermined condition occurring in theenvironment, or upon request by a positioning engine.

Mobile Device (Tag)

FIG. 8 depicts an example embodiment of an object or tag 170. Asdescribed above, a mobile device may incorporate one or more of thecomponents depicted, or the components may be incorporated into a tagfor connection to or attachment on the device to be tracked. A subset ofthe components of a mobile device or tag 170 is shown for clarity ofdiscussion. [0099] In this example, transceiver 820 communicates throughantennas 810A-N over a wireless link to one or more devices. Asdescribed above, a tag may receive signals from beacon emitters 130 aswell as other RF signal sources. A tag 170 may also communicate with anetwork monitor 120 (optionally operating as a network bridge), anaccess point 180, or any other wireless communication device.Transceiver 820 is shown connected with processor 830.

Transceiver design technique design is well known in the art. Any givenembodiment will be deployed in accordance with one or more communicationstandards or specifications it supports. In this example, transceiver820 may be capable of making various RF measurements. For example,transceiver 820 may measure each beacon and store a Received SignalStrength Indicator (RSSI) for each beacon. An average RSSI may becomputed for each beacon to produce an Average Access Point BeaconSignal Strength (AAPBSS). Any number of other RF measurements may alsobe made. One or more of these measurements may be transmitted to thepositioning engine, optionally based on various conditions, examples ofwhich are detailed throughout this specification. A typical transceivermay comprise one or more processors (i.e. a baseband processor), whichmay be separate from processor 830, and may comprise various othercomponents, examples of which include encoders, interleavers,modulators, decoders, deinterleavers, demodulators, searchers,amplifiers, filters, mixers, oscillators, digital-to-analog (D/A)converters, analog-to-digital (A/D) converters, diplexers, duplexers,and the like. The components necessary for communication according toany standard may be incorporated in multiple integrated circuits orother components. Transceiver 820 may be deployed to communicateaccording to and/or measure signals of multiple communication formats.Transceivers (which may comprise a receiver and a transmitter),receivers, and transmitters detailed throughout this specification mayinclude one or more of these various components, among others, i.e.transceivers in WLAN interface 620 or network interface 650, transmitter1320, or transceiver 1420.

Processor 830 may be a general-purpose microprocessor (ormicrocontroller), a digital signal processor (DSP), or a special-purposeprocessor. Processor 830 may perform some or all of the functions of tag170, described above with respect to other blocks. Processor 830 may beconnected with special-purpose hardware to assist in these tasks(details not shown). Various applications (position based applications,for example, as well as any other type of applications) may be run onexternally connected processors, such as an externally connectedcomputer or over a network connection, may run on an additionalprocessor within tag 170 (not shown), or may run on processor 830itself. Processor 830 is shown connected with memory 870, which may beused for storing data as well as instructions for performing the variousprocedures and methods described herein. Those of skill in the art willrecognize that memory 870 may be comprised of one or more memorycomponents of various types, that may be embedded in whole or in partwithin processor 830.

Motion detector 850 is connected with processor 830 as well. A motiondetector 850 is optional. Various techniques for using detected motionmay be used in position location. Example techniques are detailedfurther below. Various types of motion detectors are well known in theart. For example, a motion detector may change the level of anelectrical signal when acceleration exceeds a predetermined level (e.g.a spring or mercury based movement switch) or it may convert physicalacceleration into electrical signals (e.g. an accelerometer). Thesesignals may be transmitted to processor 830 as analog voltages ordigital pulses. The motion detector 850 may be powered up or powereddown by the processor. Detected motion may be used to enter or leave alow power state, to conserve battery. A motion detector 850 may alsoinclude a compass for determining a heading, which may be used in othercomputations and/or transmitted to one or more other network components.

In one example, a tag may transmit measurements of received signals onlywhen the tag is in motion or begins moving. This allows the mobiledevice to enter a low-power state when the device is not in operation.In such a low power state, the device may simply omit measurement andtransmission or may measure and/or transmit at a lower frequency thanwhen the device is moving. This allows the mobile device to conserve itsbattery, if an alternate power supply is not being used.

As a result of other methods described herein, after a mobile device hasbeen stationary for a certain amount of time, its location may be knownwith a high amount of accuracy. As a result, a stationary mobile devicemay be used as a network monitor while it remains stationary. In thisexample, after the device has been stationary for a long period of timeand its location is accurately known, this device may be added as adynamic calibration point in the system for use by the positioningengine. Once this device moves, the dynamic calibration point may bedeleted.

Sensors 840 are connected to processor 830 for measuring various otherenvironment conditions local to tag 170, for transmission tolocation-position engine 110 via transceiver 820. Sensors (includingoptionally attachable external equipment) may be used to detect variousconditions. Sensors may detect the presence of radiation, biologicalagents, certain chemicals, or may record air temperature, pressure,humidity, movement, acceleration, etc. In one embodiment, the sensorsmay detect if the device is attached to a person. Example methods ofdetecting if the device is attached to a person include a contactswitch, conductive wrist strap, skin temperature or resistivitymeasurement, and other methods. Sensors may be internal or external tothe device. The device may be configured to either poll various sensors,or may accept a continual stream of data therefrom. In variousembodiments, any condition may be used to trigger a tag or device 170 totake one or more actions. For example, a tag may exit a low-power statebased on some detected anomaly. Or, a tag may transmit measurementsbased on certain pre-determined criteria.

Processor 830 is shown connected to additional outputs, which mayinclude an LED output, an LCD display screen, an audible indicator, atactile indicator (i.e. a vibrator), or any other type of input/outputdevice. An object or tag 170, in conjunction with the other systemelements described herein, may trigger an alert or alarm based onvarious criteria. By analyzing location data in real-time, a system 100(including the positioning engine 110, any other components, orapplications connected to or operating thereon) may determine if adevice, or something or someone attached to the device, is located in arestricted area (for example) or is in violation of pre-programmedcriteria. Examples of such criteria include (a) a device located in aprohibited area (or leaving a desired area); (b) a device deviates froma pre-programmed route; (c) the location of the device; (d) the locationof other devices within the system; (e) the current time or date; (f)the current accuracy of the locations being determined in the system;(g) data received from internal sensors or external equipment attachedto the device; (h) data received from internal sensors or externalequipment attached to other devices in the system; (i) the access pointbeacon signal strength exceeds a preconfigured threshold for that accesspoint or (j) any combination of the above.

One or more indicators may be activated (for example, emitting sound ofany type from an audible indicator, modulating brightness, color orother aspects of a visual indicator, or vibrating a tactile indicator)when any of a variety of criteria is met. Examples include, but are notlimited to (a) a device's location is outside a set of permittedlocations; (b) the device is not in range of one or more access pointsor other network components; (c) the device is out of range of anypre-selected device; (d) the device's battery voltage falls below apre-programmed level; (e) the device is moved without authorization; (f)any of the devices' sensors 840 (either external or internal) exceed orfall below a pre-determined threshold; (g) the device is transmittingdata to an access point or other network device; (h) the device isreceiving data from an access point or other network device; (i) thedevice is functioning properly; (j) the device is not functioningproperly; (k) the device is in a low-power state; (l) a network directedcommand; (in) any other definable criteria; or (n) any combination ofthe above.

When one or more criteria are met, the system may transmit an alert oralarm. Alarms or alerts may be sent to devices within the network orexternal to the system. An alarm or alert may be directed to tag orobject 170, and one of the additional outputs may be used to indicatethe alarm or alert, using any of the various techniques well known inthe art. In addition, any device or user may be alerted, within thesystem, or external to it, via one or more of various means. Examplesinclude (a) sending an email message; (b) sending a Short MessagingService (SMS) message; (c) initiating a phone call; (d) sending a page;(e) sending an XML Web Service message; (l) sending an Instant Messenger(IM) message; (g) employing a Simple Network Management Protocol (SNMP)Trap; (h) connecting to another system (i.e., an alarm system within themonitored facility); or (i) any combination of the above.

Processor 830 may also receive additional inputs. In one example, a tagmay be equipped with one or more buttons (or other input signalingdevices). In one embodiment, an identification (Ident) button isdeployed. The Ident button may be used when configuring a device withinthe network. An Ident button may be used as follows: an asset may beselected (i.e., from a database or any other technique for identifyingone of the devices to be tracked); the Ident button may be depressed,indicating to processor 830 that an identifier should be transmitted tothe positioning engine. The identifier may identify the tag via somepredefined number, or any other identification message may be deployed.This allows the tag identifier to be associated with the asset selected.Various refinements may be made to this technique. For example, ifmultiple identification messages are received, the process may berepeated. In an alternate embodiment, a barcode may be scanned toidentify an asset, and then an Ident button may be depressed to indicateto the system that the tag identifier should be associated with theidentification from the barcode scan.

Note that transceiver 820 may also include optional secondarytransceivers for communication with alternate networks using anycommunication standard, as described above. For example, one transceiver(or, alternately, a receiver only) may be used to receive and measuresignals from one or more beacon emitters 130 using whatevercommunication protocol is deployed for those beacons. An alternatetransceiver may be deployed for reporting the measurement results aswell as receiving commands, programming, or other communication with thenetwork and/or position-location engine (i.e. position engine 110). Yetanother transceiver may be deployed to communicate with an interrogatingdevice, for example an RFID reader. When a signal is detected from thetransceiver (for example the presence of an RFID reader) the tag mayperform one or more actions, such as computing location, transmittingdata on another transceiver, changing power states, etc. If the signaldetected by the transceiver has identification information in it (forexample the ID of the RFID reader), then the tag may also transmit theidentification information on another transceiver.

In an example embodiment, an RFID transceiver is used to read and writeto the memory in the device. For example, a device may be loaded withinformation at the factory (i.e., an address), which may be read by anRFID scanner. As another example, any data payload, such as a text file,XML file, picture, etc., may be written to and stored on a tag. Suchdata may be read by other RFID scanners, or otherwise transmitted vianetwork connections and the like. An example RFID equipped tag maytransmit data according to the ISO 15693 signaling scheme.

Motion detector 850 may comprise one or more accelerometers fordetecting motion along one or more axes. Motion detector 850 may includea compass for determining which direction the mobile device istraveling. Various other motion-detection techniques, well known in theart, may be deployed within the scope of the present invention. Motiondetector 850 may be used to compute a displacement vector, thedisplacement vector indicating the direction and/or distance traveled.For example, distance traveled may be computed by detecting accelerationand time between acceleration and deceleration back to stationary. Fromthis, a displacement distance may be computed. If multiple such devicesare deployed, a displacement along an X axis may be computed as well asalong a Y axis. From these two variables, a displacement vector may becomputed. Alternatively, or additionally, a compass may be used todetermine the direction of the displacement vector. Any detected motionor displacement information may be transmitted via transceiver 820 topositioning engine 110 for use in location detection.

In an alternate embodiment, a tag 170 may transmit measurements whenmotion is detected and when motion stops. In another alternative, thetransmission may only occur when the tag is moving. In yet anotheralternative, detailed further below, measurements are periodicallytransmitted while the tag is stationary. This information may be used insimilar fashion as network monitor data. In yet another alternateembodiment, location computation based on transmitted measurements froma tag may be averaged when the tag has indicated that it is standingstill. This information may also be used to measure the error orconfidence level of a particular location determination that has beenmade. These and other examples are detailed further below.

As described above, a static object or tag 170 may be used as a networkmonitor in an alternate embodiment. This technique may be deployedeffectively when a fairly accurate location determination for the tagmay be made. In one example, the location of a tag may be knownprecisely. For example, consider a docking station or cradle used forrecharging a mobile device. If the location of the docking station orcradle is known precisely, and the tag can determine when it is cradledor docked, it may transmit measurements of the environment while it isin a stationary condition at the known location. Thus the mobile devicecan act as a network monitor and its data may be used by a positioningengine to update the mapped space, potentially increasing the accuracyof the location determination of other objects within the area.

Note that transceiver 820 may include secondary radio interfaces. In oneexample, one or more transceivers are deployed to transmit according toone or more transmission standards. In an alternate embodiment, a singletransceiver is deployed that may be programmable to operate according toone or more communication standards. For example, a low-power radiotransmission standard may be used for transmitting data to thelocation-position engine via network monitors 120 in one embodiment oraccess points 180 in another (or a network monitor may include or beco-located with an access point). An alternate radio interface may beused for measuring and/or transmission on a WLAN incorporated withbeacon signals. For example, if an 802.11 access point is used for abeacon signal, it may also be used by the wireless device, such as a tag170, to communicate data as well as for measuring the RF environment foruse in position-location determination. Any other wireless radiostandard may be deployed as well, such as Ultra Wideband (UWB), cellulardata standards such as those described above, and the like.

A system 100 may incorporate multiple wireless interfaces for varioustags and/or mobile devices. For example, if one wireless interfaceaccommodates a smaller form factor which may be suitable for small tagsand/or longer battery life, that may be deployed for a subset of theassets to be tracked within the system. At the same time, a differentform factor for a larger asset to be tracked may be acceptable. Or, anasset to be tracked may already include a wireless interface that may becoupled with one or more components described herein to comprise tag170.

A tag may also operate as a network bridge, in similar fashion asdescribed above with respect to the network monitor 120. For example, atag may communicate with one or more other mobile devices over awireless interface such as 802.15.4 or another wireless standard. Thetag may then transmit or receive data on an alternate network. Thus, forexample, tags that communicate according to one radio standard may useanother remote tag, including one that communicates according to two ormore standards, as a bridge to maintain connectivity. Those of skill inthe art will recognize these and myriad other combinations of radiocommunication links that may be deployed within the scope of the presentinvention.

FIG. 9 depicts example method 900 for updating a tag location. Note thatthe blocks depicted are illustrative only. Any individual embodimentneed not perform all of these steps. The process begins in block 910when the tag wakes up. For example, as described above, a tag mayperiodically enter a low-power state to conserve battery life and wakeup to perform measurements and transmit as necessary.

In block 920, the tag measures the Received Signal Strength Indicator(RSSI) of various beacons and/or makes other measurements such astemperature, humidity, RF noise, etc. Note that a tag 170 may alsomeasure signal strength of network monitors, other mobile devices,beacons, etc. A tag may measure the signal strength of other co-locatedor nearby tags, for example, in an alternate embodiment. In oneembodiment, an Average Access Point Beacon Signal Strength (AAPBSS) fromeach is measured and computed. In block 930, data is transmitted to thepositioning engine.

In block 940, the tag may receive an acknowledgement that thetransmission was received and may receive other requests. For example,various parameters may be changed from time to time within the tag, suchas frequency of measurement, types of measurements to be made,communication parameters, and so forth.

In block 950, the tag processes any received requests and, subsequent tosuch processing, returns to sleep in block 960. Various embodiments willincorporate various means for waking up the tag 170 and returning toblock 910 to repeat the process. For example, a periodic timeout may beused to wake up the tag, which may or may not be programmable over theair. Or, a motion-detection device may be used to indicate that the tagshould wake up.

FIG. 10 depicts example method 1000 for transmission of parameters inresponse to detected motion. The process begins in block 1010, where themobile device or tag receives a beacon signal. In block 1020, the mobiledevice generates positioning information in response to the receivedbeacon signal or signals. The positioning information may comprise RSSIdata or the AAPBSS data detailed above. In an alternate embodiment, thepositioning information may also include a position estimate generatedlocally at the mobile device. The position estimate may be made usingany of a variety of techniques. For example, the mobile device maycompute its position based on signal strength measured from one or moretransmitting stations such as beacon emitters, access points, networkmonitors, and the like. A mobile device may also incorporate variousother location detection techniques.

A mobile station may also compute a displacement vector based on anestimate of its movement. The mobile device may use any of the abovedescribed motion detection techniques or components in determining thedisplacement vector, including motion detectors, accelerometers,compasses, and the like. The displacement vector, as well as any relatedinformation, may also be included in the positioning informationgenerated in block 1020.

In decision block 1030, if motion is detected, proceed to block 1040. Inblock 1040, transmit the position information generated to thepositioning engine via any of the available communication links.Examples include transmitting to an access point, through a networkmonitor acting as a network bridge, and various other examples detailedherein. In decision block 1030, if motion is not detected, the processstops.

In this manner, method 1000 may be repeated periodically in accordancewith a desired potential update rate. Accordingly, if a tag does notdetect motion, no transmission is required. This has the benefit ofpreserving battery life by not requiring the mobile device to use itstransmitter. In an alternate embodiment, not shown, the receiving ofsignals and generating of position information is also deferred untilthe tag wakes up by detecting motion. Thus, power need not be suppliedto the receiver and no measure and/or computation or generation ofpositioning information will be required until motion is detected.

In yet another alternative, a mobile device or tag may measure andgenerate positioning information periodically, storing those results fortransmission at a later time. Those results may be stored in accordance,or along with, an associated time stamp. The results may also be storedwith corresponding measurements of other environment parameters such astemperature, humidity, ambient RF noise, and the like. The sets ofgenerated positioning information, along with any associated data, maybe transmitted together after motion has been detected (or based upon analternate triggering event).

A positioning engine may use knowledge of whether or not a mobile deviceis moving when determining the location of the corresponding deviceand/or updating the models for position location (i.e. updating themapped space). FIG. 11 depicts an example method 1100, suitable for usein a mobile device or tag 170 to indicate whether it is in motion orstationary. Method 1100 may be used in conjunction with any othertechnique requiring the knowledge of whether or not a mobile device isin motion.

Method 1100 comprises block 710-740, which are identical to those oflike number described with respect to FIG. 7. In these blocks, themobile device receives one or more beacon signals, computes signalmeasurements, measures any other parameters, and transmits measurementsto the positioning engine. Subsequent to transmitting the measurementsto the position engine, proceed to decision block 1110.

In decision block 1110, if motion is detected, proceed to decision block1140. In decision block 1140, if the mobile device or tag was previouslystationary, proceed to block 1150 to transmit a moving message to thepositioning engine. In decision block 1140, if the mobile device was notstationary previously, i.e. it was moving, there is no need to transmita message, as the state has not changed. Instead, return to block 710 toprocess the next set of measurements.

In decision block 1110, if motion is not detected, proceed to decisionblock 1120. In decision block 1120, if the mobile device or tag wasmoving previously, it has now stopped. Thus, proceed to block 1130 totransmit a stationary message to the positioning engine. In decisionblock 1120, if the tag was not moving previously, then no change ofstate has taken place. Return back to block 710 and continue asdescribed above.

In this fashion, the mobile station monitors whether or not it is in amoving state or a stationary state. It may send messages to thepositioning engine so that the positioning engine also knows whether ornot the mobile station is in motion. Various techniques are known in theart for transmitting messages of various types and any such techniquemay be deployed within the scope of the present invention. As describedabove, any type of motion detection may be used to determine whether themobile station is in motion. When method 1100 is deployed, measurementsof received beacon signals, as well as other parameters, may be receivedby the positioning engine, in the context of whether or not the mobilestation is moving. Various techniques may be deployed to processreceived data based on whether the mobile station is stationary ormoving, examples of which have been given above and are further detailedbelow.

Configuration

When a mobile device (i.e. tag) 170 or network monitor 120 is used forthe first time, it may not have a WLAN configuration loaded. In someWLANs, the access points may continually broadcast configurationmessages (which may be used as or contained in beacons) whereby eachbeacon may include WLAN configuration information. When a mobile deviceor network monitor receives this information it may modify itsconfiguration so that it can attach to this WLAN access point. However,since there may be multiple WLANs, the device may need to select a WLANto which it should attach. In one embodiment, the device may choose aWLAN randomly from those available. In an alternate embodiment, thedevice may listen for all wireless networks and attach to the wirelessnetwork with the highest signal strength. In another example embodiment,the mobile device or network monitor attaches to a predefined WLAN asdescribed below. Any other method of configuration may be deployed aswell.

In one embodiment, a device, such as a mobile device or network monitor,is preconfigured with WLAN settings. These settings may includeinformation necessary for a device to communicate on the WLAN, forexample network name and security settings. Security certificates orauthentication information may be included as well. In one embodiment, aWLAN in the environment may be configured with the same settings thatare preconfigured on the mobile device or network monitor. This WLAN istypically attached to a computer, which stores additional configurationinformation. When the device is instructed to download new configurationinformation (for example, it was powered on or reset) it connects to thepreconfigured WLAN and requests configuration information from thecomputer attached to this WLAN. The computer then replies withconfiguration information for the device. The device may then change itssettings to the newly downloaded configuration information and mayswitch to a different WLAN. In this example, the computer receiving therequest from the device then sends the request to a central server,which replies with the configuration information. In one embodiment,devices that have been configured and are on the WLAN may be used toconfigure other devices, which have not yet been configured. In thismanner, the devices may be self-configuring, by communicating with otherdevices, and the computer described above is not necessary. Onceproperly configured, any device (a tag, a network monitor, a computer,an access point, a beacon emitter, etc.) may be used to update anunconfigured or incorrectly configured WLAN device.

FIG. 12 depicts example method 1200 for configuration of a device (i.e.,a mobile device or network monitor). At 1210, the device starts theconfiguration process. The configuration process may be initiated by abutton being depressed, power being applied, timer expiration, etc. At1220, the device finds a network that matches its preconfigured settingsand broadcasts a message on the network, requesting configuration data.The device and the Configurator (configuring device or computer) mayauthenticate each other. At 1230, the device receives configurationinformation from the Configurator. In the example embodiment, the deviceverifies that the configuration information received is valid (i.e.matches a pre-computed checksum, cryptographic hash, or other dataverification methods known in the art). At 1240 the device applies thenewly received settings. In one embodiment, the device may restart. At1250, using the new settings, the device starts or resumes normaloperation.

In one embodiment, operational parameters of the device (including, butnot limited to, any variable that affects tag operation) are setremotely and transmitted to the tag over the wireless interface.Operational parameters may include network settings, server settings,and performance settings. Network settings may include information aboutthe wireless LAN, including settings that must be set to communicate onthe wireless LAN. Server settings may include information about how tocommunicate with a positioning engine, such as network addresses of oneor more positioning engines or the number of times to attempt tocommunicate with one server before failing over to another. Performancesettings may include any other parameter that affects system operation,including alarm criteria, indicator criteria, location update frequency,whether to send location updates when movement begins or ends, motionsensor sensitivity, minimum time interval between updates, and otherparameters that affect the operation of the device.

In one embodiment, one or more parameter values are stored as a mode.For example, one mode may include settings to operate with one WLAN andanother mode may include settings for a different WLAN. The positioningengine may store one or more modes and instruct the devices to switchmodes based on a user's command, time of day, or other events. In oneembodiment, the mobile devices store the settings for various modes andthe positioning engine instructs the device which of its stored modes touse. In an example embodiment, the positioning engine stores thesettings for the modes and transmits the settings to the device when thedevice's mode is to be changed. If the device is on the WLAN, and islistening, then the positioning engine may transmit configurationinformation to the device immediately when the mode is changed. In oneembodiment, the positioning engine transmits configuration informationwhen the device requests. In this manner, the device's power consumptionis minimized because the device is only listening for a short periodafter the device transmits the request. The device may be configured torequest configuration information periodically (e.g. once per day), oraccording to other criteria, including alarm events as describedpreviously.

Example configuration methods include those where the user specifies avalue and this value is transmitted to the device either through thetransceiver or through a cabled connection. One method to configure theWLAN device may be to allow the WLAN device to use a “web serverinterface” whereby a user (or software application) specified the IPaddress of the WLAN device into a web browser window. The web browserinterface may then be used to configure the WLAN device parameters.Another method to configure the WLAN device attaching the WLAN device toa computer, whereby the user enters in values to the computerapplication and the application transmits these values to the deviceusing a serial protocol. Yet another method to configure the WLAN deviceincludes using a correctly configured device to configure the deviceneeding configuration. This may be accomplished by placing the device tobe configured in close proximity to a correctly configured device toallow the two devices to communicate using their transceivers, orconnecting the two devices with a cable.

In one embodiment, applications running on a microprocessor in thedevice may be changed while the device is in use. For example, if a newversion of the application is available, then it may be desirable toupgrade the application on the device to the new version. In oneembodiment, the method to change the application includes connecting acomputer with a cable to the device and sending the new application overthe cable. In another embodiment, the device may be programmed byanother device through the device's transceiver (for example if thetransceiver incorporates an RFID interface). In the example embodiment,the positioning engine transmits the application over the WLAN to thedevice. The device may verify that the firmware is valid (with achecksum or cryptographic hash or other method known tin the art) priorto running the application. In one embodiment, the device measures itsbattery level and only updates the application if the battery level issufficient for this operation.

Beacon Emitter

As described above, one or more beacon signals may be transmittedthroughout a system 100 to be received and measured by various deviceswithin the system, such as network monitors 120 or various objects 170.A beacon may be any known signal transmitted in accordance with anytransmission format. For example, an access point may transmit anidentifiable signal that may be used, in whole or in part, as a beaconsignal for measurement by wireless devices within the network. However,a beacon emitter need not be capable of performing additionalcommunication such as transceiving in accordance with a WLAN standard,as with an access point, or in performing network monitoring, such as anetwork monitor. FIG. 13 depicts an example beacon emitter 130 that maybe deployed for use within system 100. Signal generator 1310 is deployedto produce a beacon signal. Transmitter 1320 receives the signal andtransmits it via antenna 1330. Various other components of a beaconemitter may be included and are not shown in FIG. 13. For example, abeacon emitter may comprise a processor, a network interface, andvarious other components, examples of which have been detailedthroughout.

As discussed above, a beacon signal need not be generated by the system,but any identifiable and measurable RF source may be used. Such a sourcemay be received, measured, and the measurements used in updating themapped space of the system environment for use in position location.Those of skill in the art will recognize myriad other configurationssuitable for deployment as beacon emitter 130 within the scope of thepresent invention.

As discussed above, a beacon emitter may be coexistent with, orincorporated into, a network monitor. Thus, a network monitor/beaconemitter may transmit a beacon while performing network monitoring aswell as any other function. In an alternate embodiment, a networkmonitor/beacon emitter may switch periodically between beacontransmission and network monitoring. A beacon emitter may also be partof an access point. In yet another alternative, a network monitor mayserve as an access point and provide a beacon along with any otheroptions described above with respect to network monitors.

A beacon emitter may or may not be conditionally programmable via awired or wireless connection. In one embodiment, a beacon emitter isconfigured before deployment and left to transmit continually until itis physically disabled or removed. It may be desirable for a beaconemitter to have a fixed power supply connection. Alternatively, a beaconemitter may run on battery power. Techniques for communication over apower grid are known in the art and may be deployed for use with beaconemitters that are plugged into an outlet equipped with such acommunication system.

Access Point

An example embodiment of an access point includes any device forcommunication with the positioning engine as well as one or morewireless communication devices within system 100. As described above,the access point may communicate with the positioning engine via wiredor wireless connection. It may also support other wired or wirelessconnections to other devices within the network or within the system. Inone embodiment, an example access point is configured to receivemeasurements wirelessly from mobile devices 170. In an alternateembodiment, an access point may receive measurements via a networkmonitor deployed in the system, either through a wired connection, orwirelessly. Those of skill in the art will recognize the myriadconnections that may be deployed in light of the teaching herein.

An access point may have multiple interfaces to connect with varioustypes of tags, each tag supporting one or more of various radiointerfaces. An access point may be connected to the position locationengine over a network or may be connected directly to the positioningengine. As described above, an access point may be collocated with orinclude the functionality of a network monitor or a beacon emitter.

FIG. 14 depicts an example embodiment of an access point 180. Networkinterface 1410 is connected with a network. In this example, the networkis the communication medium for receiving from and transmitting to thepositioning engine. Data to and from the network may be transmitted viaantenna 1430 by transceiver 1420. Transceiver 1420 is equipped toreceive and/or transmit according to one or more communicationstandards. In one embodiment, the transceiver operates in accordancewith an 802.11 specification. In an alternate embodiment, one or moreadditional transceivers may be deployed to support alternatecommunication standards. Processor 1440 is connected to memory 1450.

Processor 1440 may be a general-purpose microprocessor, a digital signalprocessor (DSP), or a special-purpose processor. Processor 1440 may beconnected with special-purpose hardware to assist in various tasks(details not shown). Various applications (position based applications,for example, as well as any other type of applications) may be run onexternally connected processors, such as an externally connectedcomputer or over a network connection, may run on an additionalprocessor within access point 180 (not shown), or may run on processor1440 itself. Processor 1440 is shown connected with memory 1450, whichmay be used for storing data as well as instructions for performing thevarious procedures and methods described herein. Those of skill in theart will recognize that memory 1450 may be comprised of one or morememory components of various types, that may be embedded in whole or inpart within processor 1440. One or more of the functions of transceiver1420 and/or a network interface 1410, may be carried out in processor1440 as well.

Positioning Engine

A positioning engine 110 may be deployed using a wide variety oflocation position determination techniques within the scope of thepresent invention. For example, a positioning engine may be used for twodimensional location determination, three dimensional locationdetermination, may include multiple models, or may use multiplepositioning engines within the positioning engine. Various examples ofthese techniques are detailed below.

FIG. 15 depicts example method 1500 for performing position location.The process starts in block 1510 where the position engine creates andmaintains a mapped space. Example mapped spaces are described above, andvarious additional alternatives are detailed below. In block 1520, thepositioning engine receives data from a mobile device. The received datamay be any of the various types described above. In block 1530, thelocation of the mobile device is determined in response to the receiveddata and the mapped space. Then the process may return to block 1510.The process may repeat indefinitely.

FIG. 16 depicts an example method suitable for deployment as block 1510in method 1500, for creating and maintaining the mapped space. Theprocess begins in block 1610 where the positioning engine receivesmeasurement data from one or more sectors, as described above. In block1620, the positioning engine adapts parameters for one or more models inresponse to measurement data and known locations of network monitors.Note that one or more parameters may be used for each of the one or moremodels. Parameter sets may be computed and indexed based on variousother factors such as time, temperature, humidity, etc. Thus, theparameters for model selection may be adapted to changing environmentvariables, other than just the RF measurements. In an alternativeembodiment, it may be that adapting the parameters in association withthe known locations of the network monitors relatively frequently issufficient to provide the desired accuracy of the position location. Insuch a case, there would be no need to index based on these otherparameters, as the mapped space essentially is updated and tracked inaccordance with all the relevant environment variables. In an alternateembodiment, the positioning engine may also adapt the values associatedwith measured static calibration points in accordance with measurementsfrom the network monitors as well as mobile devices 170. In block 1630,the positioning engine updates the mapped space in accordance with theadapted parameters. Depending on the model or models deployed, themapped space may be updated differently.

FIG. 17 depicts an example embodiment of a positioning engine 110. Model1720 receives tag data as well as other data, examples of which aredetailed above, and is used to determine a position for the particulartag in accordance with data stored in database 1710. A database mayinclude, but is not limited to, known locations of calibration points,both static and dynamic, past and present location estimates for one ormore objects, functions, parameters, etc. for use in position location,and may include any media storage such as a hard disk, memory, removablemedia, floppy disks, CD-ROMS, etc. Model 1720 may be used periodicallyto store the position for each tag. Or, the position for each tag may bedetermined in response to a location query. In either case, a locationresult may be generated in response to a location query for one or moreassets being tracked by system 100. Database 1710 may store any numberof past locations for each asset being tracked as well as otherenvironment data recorded. The location result is determined accordingto the model based on the measured data from a tag in accordance withthe varying parameters, maintained in database 1710 as updated. In otherwords, database 1710 is one embodiment comprising an updated mappedspace. The space is updated by parameter calculation block 1730 whichreceives network monitor data, as well as other data, as describedabove.

In association with model 1720, parameters for use with the model may becomputed or refined based on the network monitor data, in associationwith the known location for a given network monitor. For example, aposition location model 1720 using the latest calculated parametersreceives measured data from a network monitor and determines a locationtherefrom. If that position is different from the known location, theparameters may be updated so that the model returns the correct locationfor that network monitor (or, the overall error may be optimizedaccording to some method, such as minimizing least squared error). Thismay be performed for all of the network monitors within the system.Various parameters are known for different position location models, andany such model may be deployed.

FIG. 18 depicts an alternate embodiment of a position engine 110. Inthis embodiment, a master positioning engine 1820 is deployed whichreceives location queries and provides location results, as before.However, in this embodiment, multiple positioning engines 1 throughpositioning engine N (1810A-N) are deployed as well. Master positioningengine 1820 interacts with these sub-positioning engines, and eachsub-positioning engine may also interact with each other. A positioningengine 1810 receives network monitor measurements and data, as well asmobile device measurements and data, in order to update parametersassociated with the models deployed in each positioning engine. Apositioning engine 1810 may also make determinations of a tracked asset,i.e. an object 170, in response to mobile device measurements and data.Thus, each positioning engine 1810 may use a different model forposition determination.

The master positioning engine 1820 may also incorporate a method forcombining the results of the various location engines 1810. For example,results that may be valid from one model may be inconsistent with theresults from another model. Various techniques, such as averaging theestimates of the location, removing outliers based on extrinsicknowledge, and the like, may be deployed to increase the accuracy of thelocation determination. Variances between the various position locationengines may also be used to estimate the uncertainty of the locationresult, or alternatively the confidence level.

FIG. 19 depicts yet another alternate embodiment of positioning engine110. Again, a master positioning engine 1930 is deployed, this timecommunicating with various computation models 1920A-1920N. Thecomputation models 1920 may interact with each other as well as themaster positioning engine 1930. Each computation model 1920 may receivenetwork monitor measurements and data, as well as mobile devicemeasurements and data. Various models may require subsets of theavailable data, depending on the model deployed. Database 1910 may beaccessed by the various computation models and updated in accordancewith parameter estimation, as described above, using network monitordata and the known locations of network monitors, as well as other dataand extrinsic evidence. In alternative embodiments, database 1910 may becomprised of one or more databases, each database accessible by one ormore computation models 1920.

In one embodiment, to compute the location of a mobile device, apositioning engine 110 may compare the RF data received from a mobiledevice (mobile data) with the RF data stored in the RF data map (i.e.mapped space or database) to find the nearest calibration points. Thepositioning engine 110 may use the actual locations of those calibrationpoints to determine the actual location of the mobile device. Asdescribed above, the RF data map may have a plurality of calibrationpoints, with each calibration point consisting of RF data and the actuallocation of that point. The RF data may consist of one or more datum,such as S1, S2, S3, . . . SN. Each datum is a measurable quantity of theRF environment, as previously described that may or may not beindependent of another datum. RF data may include RF noise at aparticular frequency, air temperature, beacon signal strength from aparticular access point, etc. To determine the calibration points thatare most similar to mobile data, one or more of the following methodsmay be employed. These methods are illustrative only, and will be wellknown to one of ordinary skill in the art.

Nearest Neighbors in Signal Space (NNSS): In this method, the distancein signal space may be computed between the mobile data and eachcalibration point RF data. All calibration points may be ranked, withthe nearest calibration point (i.e. the calibration point with thesmallest distance in signal space to the mobile data) being ranked thehighest and the farthest (i.e. the calibration point with the highestdistance in signal space to the mobile data) being ranked the lowest.Note that the distance in signal space may not correspond to Euclidiandistance, as there may be a plurality of calibration points that arenearby in signal space but far away from each other in Euclidian(physical) space.

Weighted Nearest Neighbors in Signal Space (WNNSS): This method issimilar to NNSS but each datum (S1, S2, S3, S4, etc) is not used equallyin determining distance. Instead, the more reliable data points (i.e.,those with the least variance, those with the highest levels, or otherstatistical methods to determine the most reliable data, as will beobvious to those skilled in the art) are weighted more in determiningdistance. In this fashion, the nearest neighbors are computed based onmore reliable data points instead of treating each data point equally(in contrast to NNSS).

Each of these methods may return a list of the calibration pointsnearest (i.e. most accurately representing in signal space) the mobiledata. This list may include the weighting factor of each calibrationpoint, representing how close the calibration point is to the mobiledata. To compute the actual location of the mobile device, thepositioning engine may compute the weighted average of the locations ofeach calibration point based on their weighting factor. In this manner alocation coordinate may be obtained.

As described above, various position location modeling techniques may bedeployed in embodiments described throughout this specification. Anymodel may be used, as the principles of the present invention are notlimited to any particular model, or set of models. Several examplemodels are described below, including neural networks, Bayesian filters,and Kalman filters. Those of skill in the art will readily apply theseand other modeling techniques to various embodiments, in light of theteaching herein.

A neural network is a software algorithm that computes an output valuefrom one or more input values. The computation function is determined(or learned) from a set of training data. The training data consists ofinput values with a corresponding correct output value. In an exampleembodiment, the input data consists of RSSI data from network monitorsand the output value is the location of the network monitor. In anotherembodiment, the input data consists of RSSI data recorded from mobiledevices and the output value is the manually recorded location of themobile device. After this training data has been entered into thesystem, the system creates the function (or model) at which point thesystem is said to be trained. When the system receives input data ituses this function to determine the output. In a positioning system, theinput value includes information received from mobile devices and theoutput value is the computed location of the mobile device.

The system may be retrained periodically based on input data from thenetwork monitors. This retraining may record data from the networkmonitors for a period of time and retrain the system using this set ofdata. In one embodiment, data from the network monitors is recorded fora time period and the model is retrained using a combination of this setof data and the set of data previously used to retrain the model. Inthis manner, the system is constantly adjusting for changes in the RFenvironment and updating the model appropriately. The combination of olddata and new data may be accomplished using an averaging technique,Bayesian Filtering, Kalman Filtering, Hidden Markov Modeling, or otherstatistical methods known in the art.

Bayesian Filters consist of a number of nodes, or states, with linksbetween each node based on the probability that one state will lead toanother, based on the values of past states. In a positioning system, aBayesian Filter computes the probability that a mobile device is at oneor more locations based on the inputs received from the mobile device.From this information the final location of the mobile device may becalculated.

Measuring a quantity often results in a value and an error. Measuring aquantity that does not change may produce several values, each with adifferent error. Kalman filtering is a method to combine severalmeasurements based on their value and error. Kalman filtering performs aweighted average of the measurements. The weight assigned to eachmeasurement is inversely proportional to its error—a value with a highamount of error will be weighted less than a value with a low amount oferror. In positioning systems, this method is used to determine alocation from the combination of multiple location calculations, eachlocation calculation having a corresponding amount of error and theresulting error is smaller than the first measurement's error.

The Hidden Markov Model is a finite set of states, each of which isassociated with a (generally multidimensional) probability distribution.Transitions among the states are governed by a set of probabilitiescalled transition probabilities. In a particular state, an outcome orobservation can be generated, according to the associated probabilitydistribution. It is only the outcome, not the state, that is visible toan external observer and therefore states are “hidden” to the outside.In positioning systems, this method is used to determine a location (astate) from the information received from the mobile devices andcalibration points.

FIG. 20 depicts an alternate embodiment of positioning engine 110. Inthis example, position location block 2030 receives location queries andprovides three dimensional location results. In an alternate embodiment,not shown, a position location engine may compute three-dimensionallocations directly from received measurements from network monitors andmobile devices. In an example embodiment, a two-dimensional (X, Y)position engine 2010 is deployed to receive network monitor measurementsand data and for updating a two-dimensional mapped space for each of oneor more third-dimension values. A Z position engine 2020 determines theZ position estimate. This estimate may be determined in response tomobile device measurements, network monitor measurements as well asvarious other data. (X, Y) position engine 2010 may maintain a map ofthe space for each value Z (or for a range of values Z), which may beupdated in accordance with the techniques described herein. Thus, (X, Y)position engine 2010 returns an X, Y position location in response tothe output of the Z position engine 2020, as well as the measured mobiledevice parameters and data (in accordance with the updated mappedspace). Position location 2030 receives the X and Y parameters fromposition engine 2010 and the Z parameter from position engine 2020 andproduces a three-dimensional location result.

One example for deployment of this embodiment would be a multifloorbuilding. The Z position engine may attempt to determine which floor adevice is on based on network monitor measurements and data, or otheritems, or any combination thereof. For example, an elevator may be usedwith a device for detecting mobile devices entering and exiting. Thus,the elevator may be used to determine the floor on which each trackeddevice is located.

Error Estimation and Accuracy Enhancement

A variety of techniques may be deployed with various positioning enginesto provide enhanced accuracy or indicate an error estimate or confidencelevel. With respect to multiple position engines, as detailed above withrespect to FIGS. 17-19, a master positioning engine may take the averageor weighted average of one or more of the positioning engines or models,or may deploy a selector for selecting one or more subsets (andoptionally averaging those as well). Various other filters for accuracymay be deployed. For example, maps containing barriers such as walls anddoors, which may be open or shut, may be used to increase accuracy. Insuch a case, the positioning engine may receive signals from doorsequipped to transmit whether they are open or closed. In an alternateembodiment, it may be assumed that any door may be openable but wallsmay not be traversed. The positioning engine may also calculate thelikelihood of a door being open or closed based on prior location ormovement patterns of one or more objects. In another example, if adevice moves into an area known to be an elevator, it may trigger anexpectation that a change in the Z-axis computation may be in order.Various other techniques such as these will be apparent to those ofskill in the art in light of the teaching herein. Tag-based motiondetection techniques, described above, may also be deployed to increasethe accuracy and/or determine the error component of various positioningtechniques. Example embodiments are detailed below.

FIG. 21 depicts an example embodiment of a method 2100 for determiningan average location of a mobile device that is not moving. Method 2100is one example for which Kalman filtering is particularly well suited.The process begins in block 2110 where the positioning engine receives amovement false message. This may be generated using any of a variety oftechniques, examples of which are detailed with respect to tag 170above. In block 2120, measurements are received from the tag, which hasindicated it is not moving. In block 2130, a location is computed basedon the received measurements as well as the updated mapped space. Inblock 2140, the computed location is averaged with any previouslycomputed locations during the period of time that the tag has indicatedit is not moving. In decision block 2150, if the tag has not moved,indicated by a movement variable set to false, proceed to block 2120 torepeat a new measurement and location computation.

For a device that is not moving, any change in the computed location ofthe device would be due to changes in the RF environment and thus, byaveraging the computed results of a stationary device, the variabilityof the changing environment may be reduced or eliminated. By measuringthe amount of variance of the location and/or the measurements from atag, an estimate of the error and/or variability of the RF environmentin that general location may be computed. This information may be usedto indicate the confidence level of measured and computed locationsthroughout the system. The measured variance of the variables of astationary object 170 may also be used as an estimate of the uncertaintyof the location of other objects 170 which are in close proximity to astationary object.

In an example embodiment, any error estimating techniques may allow forindexing based on one or more environment conditions. For example, ifusing any technique, expected error levels change corresponding tochanges in humidity, then a measurement of the humidity by a networkmonitor, tag, or other device, may be used to estimate the expectederror. This technique may be expanded for use with multiple environmentvariables.

FIG. 22 depicts an example method 2200 for performing correction tocomputed measurements. The process begins at 2210, where the positioningengine receives measurements from known locations, such as networkmonitors. At 2220, the positioning engine computes the location of theknown location devices based on the measurements from those devices. At2230, the positioning engine computes an error vector as the differencebetween the computed location and the known location. At 2240, thepositioning engine applies a vector to correct other computedmeasurements, the vector generated in accordance with the computed errorvector. Then the process may stop. The method 2200 may be repeatedperiodically as often as desired for the required level of accuracy.

As described above, with respect to FIGS. 8-11, a tag 170 may compute adisplacement vector. FIG. 23 depicts graphically a variety of techniquesa positioning engine may deploy to use a displacement vector 2330 indetermining a new computed location. In this example, a tag 170 isdetermined to be located at point 2310. Thus, subsequent to movement bythe amount indicated by displacement vector 2330, the resulting locationwould be given by point 2340. In one embodiment, a displacement vectormay also incorporate an uncertainty term or terms to accommodate forinaccuracy of computing the displacement vector. This detail is notindicated in FIG. 23, although this could be accomplished by identifieda region or area associated with the expected location in accordancewith the variance of the value of displacement vector 2330.

Another technique identified in FIG. 23 is that, rather than using asingle point 2310 to identify the location of the tag 170, area 2320 maybe used to indicate the expected location. The expected location may bea conglomeration of the results of a variety of positioning engines, oruncertainty as calculated by error vectors, or variance in the RFenvironment, or any combination of the above. Area 2320 may indicate aregion of equal likelihood of location of tag 170, or area 2320 may besubdivided into more and less likely portions (details not shown).Accordingly, and ignoring the effects of uncertainty in computingdisplacement vector, the effects of which may be accounted for by one ofordinary skill in the art, applying the displacement vector 2330 to area2320 would result in an expected location given by the area 2350. Thus,a first technique for using area 2320 with a displacement vector wouldbe to determine an expected location based on those two factors.

In addition, a new location for tag 170 in this example may be computedusing one or more position location algorithms, models, or engines. Inthis example, the expected location as computed by the positioningengine, is given by point 2360. Note that in this example, that locationis different from the point determined by 2340. This may be due toinaccuracy in the position location vector 2330, inaccuracy in theoriginal location 2310, or inaccuracy in the computation of the finallocation 2360. The positioning engine can use any technique to combineresults from one or more position algorithms, such as the displacementvector technique described above, and any other position locationtechnique for which point 2360 is determined.

Consider an example in which a larger area in which the location of theasset or tag 170 may be located surrounds point 2360, identified as area2370. Another technique, to combine the displacement vector with thecalculated area, is to compute the intersection of area 2370 with thedisplacement vector area 2350 to narrow down the expected location. Thisoverlap is indicated by shaded area 2380. Note that, in this example,both expected points 2340 and 2360 reside within the overlap area 2380.In other examples this may not be the case.

FIG. 24 depicts example method 2400 for applying a displacement vectorto refine decision location results. The process begins block 2410,where the position engine receives a displacement vector from an assetto be tracked (i.e. object or tag 170). In block 2420 the positioningengine computes a new location (or area) in response to a previouslocation (or area) and the received displacement vector.

FIG. 25 illustrates the use of known barriers to refine positioningestimates. In this example, the positioning engine is aware of variousbarriers to movement. For example, wall 2510 is connected to wall 2520.Door 2530 allows motion through barrier 2510. In a series ofcomputations for location of a device, a series of hypotheses orestimates 2540A-F may be generated. Estimates 2540A-F are located withinthe room formed by walls 2510 and 2520, and one estimate 2540N isoutside of the wall. By using knowledge of the barrier 2520, a positionengine can exclude the hypothesis or estimate 2540N. Note further thatif a signal from a door 2530 can be sent to indicate whether it is openor closed, other expected movements by an asset in the room identifiedby walls 2510 and 2520 may be similarly filtered for accuracy. Inaddition to the techniques described herein, sensors may be deployedthroughout a facility that detects the presence of a tracked asset as itpasses. Information from such sensors may also be fed back to filter outimprobably estimates based on these, presumably more reliable, locationdetections.

In an alternate embodiment, the number of estimates at a certainlocation may be used to indicate the probability of being located atthat location. Returning to FIG. 25, consider area 2530 containinghypotheses or estimates 2540. To the extent that a series ofmeasurements show a device in a smaller area, the probability of thoseestimates being correct may be higher to the degree that the number ofmeasurements at that location is made. Thus, for example, if oneestimate 2540 falls outside a series of estimates clustered together, alower probability may be assigned to that location.

Techniques for computing displacement vectors, using knowledge ofbarriers, concentration of measurements, and history of movement torefine location estimates are detailed in the following paragraphs.Examples are also given. Those of skill in the art will readily applyone or more of these techniques, or combinations thereof, to the variousembodiments detailed throughout this specification.

For mobile devices that have a motion sensor that measures accelerationin one or more directions (i.e., an accelerometer), then the distancetraveled by the device may be computed to find theacceleration-calculated distance. The value of this acceleration,integrated over time, may be used to calculate the distance traveled bythe mobile device. If the acceleration is a function, then the distancetraveled may be computed by taking the double integral of theacceleration function with the bounds set at the time interval that thefunction applies.

If the mobile device measures acceleration in more than one dimension,then the acceleration-calculated distance may be found by measuring thedistance in each dimension. In this case, the acceleration-calculateddistance may have multiple dimensions (for example, an x and y and zvalue) or these dimensions may be used to calculate a single distance byusing the distance, d, given in equation 2:

d=x2+y2+zz  (2)

If the distance between one location calculation and a successivelocation calculation is determined to be different from theacceleration-calculated distance, then the system may use theacceleration-calculated distance to refine the location calculation. Forexample, if a mobile device is located at (2,2), and theacceleration-calculated distance is at (3,1), then the new locationwould be (5,3). If, instead, the positioning engine calculates thelocation of the device at (5,1), then the system may use theacceleration-calculated distance to correct the calculated distance byreporting the new location at (5,3) instead of the value (5,1). In thismanner, a more accurate location may be found.

The multi-dimension correction method just described (measuring theacceleration-calculated distance in its component dimensions) works wellwhen the mobile device remains consistently oriented with the space. Forexample, if the mobile device is measuring acceleration in X, Y space,then for the multi-dimensional correction method above to work, the Xdirection of the accelerometer would need to be oriented in the Xdirection of space and the Y direction of the accelerometer would needto be oriented in the Y direction of space. However, normally mobiledevices may be rotated when used, so a way to measure the direction ofrotation of the mobile device may be desired. If a mobile deviceincludes a method to determine the heading that the mobile device isoriented (including using a way to detect the earth's magnetic field(compass) or using directional antennae), then the system has knowledgeof the mobile device's orientation and may correct theacceleration-calculated distance in each direction based on the measuredheading.

For example, if the device measures an acceleration-calculated distanceof x=3m, y=4m but the heading measurement device determines that themobile device is rotated 180 degrees, so that its accelerationdetector's x axis is pointed in the-x axis of space, and itsacceleration detector's y axis is pointed in the-y axis of space, thenthe system may correct the acceleration-calculated distance to yield anacceleration-calculated distance of x=−3m, y=−4m in space. In thismanner, the system may use heading measurement and multiple dimensionsof acceleration measurement to compute the vector (in direction andmagnitude) of all mobile device movement. When combined with one or moreknown locations, the system may compute where the device is located atall times.

If the mobile device is located in a predefined environment (e.g. abuilding) then the system may use a map of this environment to enhancethe accuracy of locations computed by the positioning engine. A map ofthis environment may show the location of walls, doors, elevators,windows, mountains, bodies of water, and other features that affect thepropagation of RF Data in the environment. (One simplified example isdepicted in FIG. 25) In one embodiment, the locations of walls are usedto enhance accuracy of mobile devices in a building. For example, if thesystem computes a location of a mobile device inside a room, but thenext computed location is on the other side of a wall, then the systemmay use the knowledge of that barrier to compute the probability thatthe mobile device actually moved to the other side of the wall.

Example factors that may influence whether a mobile device moves througha barrier may include one or more of the following: (a) the distance totravel around the barrier and the speed at which the object would needto be moving in order to travel that distance during the time intervalbetween the two location computations; (b) the probability that thebarrier is closed (for example, a wall may have a lower probability ofbeing closed than a wall); (c) the error in the location calculation onboth sides of the barrier; (d) the number of location calculations onboth sides of the barrier.

If the distance to travel around the barrier is known or able to bedetermined, then the system may compute the speed at which the objectwould need to be moving to travel around the barrier. If that speed isabove a threshold, the system may determine that the mobile device isnot actually on the other side of the barrier. If the probability thatthe barrier is closed is very high, then the system may conclude with ahigh degree of confidence that the mobile device is not actually on theother side of the barrier. Conversely, if the probability that thebarrier is closed is very low (for example, if the barrier is a doorthat is usually open), then the system may conclude with a high degreeof confidence that the mobile device is on the other side of thebarrier. If the error in the location calculations on one side of thebarrier is small, but the error in the location calculations on theother side of the barrier is relatively large, then the system mayconclude with a high degree of confidence that the mobile device is notactually on the other side of the barrier. If there are a high number oflocation calculations on one side of the barrier, but fewer locationcalculations on the other side of the barrier, then the system mayconclude with a high degree of confidence that the mobile device is notactually on the other side of the barrier.

If the system has a historical record of a device's movement, then thesystem may compute the probability that that device has moved through abarrier, and therefore the probability that the barrier is closed may becalculated. This may be applied to all objects of a particular type inthe system to compute the probability that a barrier is closed for thattype of objects. This may also be applied to all objects in the systemto compute the probability that a barrier is closed for all objects. Inthis manner, the system may learn from historical location, data and, asa result, its new location computations may be made more accurate.

A variety of techniques, including the number of measurements made at aprevious location, the existence of barriers to movement, otherdetection techniques, the use of displacement vectors, and the like, areall examples of the general principle of determining the probability ofa location determination being correct. FIG. 26 depicts example method2600 for selecting location hypotheses for use in making a computedlocation determination. The process begins in block 2610 where alocation hypothesis is computed using any of the above techniques. Forexample, one or more position location models may be deployed using theupdated mapped space to determine one or more hypothetical locations. Inblock 2620, that location hypothesis is evaluated in context of theprobability of movement to that computed location. The probability, asdescribed above, may be determined in accordance with knowledge ofexisting barriers, the relative number of measurements at a certainlocation, other sensors, computed displacement vectors, and the like. Indecision block 2630, if the probability of movement to that location isabove a threshold, then that hypothesis is retained in block 2640. Thehypothesis may be included in a list. If the probability of the computedlocation is less than its predetermined threshold in decision block2630, then in block 2650 the hypothesis is removed from the list. Theprocess may then stop. This process 2600 may be deployed in a masterpositioning engine such as master positioning engine 1820,1930 or 2030,to include hypotheses from one or more sources and perform averaging onany remaining hypotheses.

Location queries or requests from various applications may be made to apositioning engine for location data regarding one or more assets 170being tracked within system 100. A response may comprise a location aswell as a confidence level. Various alternative embodiments may includeposition responses that incorporate other types of information as well.A location may be identified as a two-dimensional location, given by Xand Y coordinates. Or a location may be a three-dimensional location,identified by X, Y and Z coordinates. A confidence level may beassociated with any location position. In addition, more complexinformation may be returned to give a more detailed response to aposition query.

Various examples of position results are depicted graphically in FIG.27. Result 2700 is indicated by a position location identified as point2702 in an example embodiment. Point 2702 may be indicated by X, Ycoordinates. Concentric circles 2704,2706 and 2708 surround location2702. In one embodiment, each concentric circle represents an areaassigned a confidence level that the asset to be located is within thatarea. The confidence level generally increases for a greater radius. Assuch, an example position response may include a location along with oneor more radii indicating concentric circles around the location toidentify varying confidence levels. Any number of concentric circles maybe given. In the example just given, only the radius needs to bereturned, when the confidence level for the area within a circle ispredetermined or predefined.

In an alternate embodiment, circles may be returned with a radius aswell as a confidence level associated with that radius, and the pair ofvalues including the radius and the confidence level for each concentriccircle indicate a confidence level for a resulting area. Note that thetwo dimensional example just described may be extended to threedimensions by including a Z coordinate with point 2702 and identifyingcircles 2704, 2706 and 2708 as concentric spheres given the same radiusinformation.

The concept of providing one or more areas to correspond with confidencelevels for the location of an asset being within that area may beexpanded to any area shape. An example embodiment is depicted asposition response 2710 in FIG. 27. Note the three areas 2712, 2714 and2716, which may be defined or returned as a position response. Each areahas associated with it a confidence level that the asset being locatedis within the area.

In yet another alternative, depicted as response 2720, one or moredisjoint areas 2722-2726 may be defined for the location of an assetwith a given confidence level. Note that a response, such as response2720, may be further processed using one or more of the varioustechniques described above to eliminate all or part of one or more ofthe disjoint areas to reduce the uncertainty. Or, the response 2720 maybe given in addition to one or more points identified with a lowerconfidence interval and the disjoint areas represent a high confidenceinterval. Note again, that for three-dimensional applications, shapesindicated in 2710 and 2720 may be made into three-dimensional volumesindicating the same information for three dimensional position response.

In yet another example, any surface area may be generated indicating theprobability of the device being located at that X, Y coordinate. Forexample, a gradient surface area tapering away from an expected locationat an X, Y coordinate is depicted as position response 2730 in FIG. 27.Such a gradient may be returned in practice as a matrix of probabilitiessurrounding a position point. Various other embodiments may also bedeployed by one of skill in the art in light of the teaching herein.[001961 In the foregoing, various methods have been described usingexample sets of blocks. Those of skill in the art will recognize thatmethod steps can be interchanged, and subsets of methods defined,without departing from the scope of the invention.

Those of skill in the art would understand that information and signalsmay be represented using any of a variety of different technologies andtechniques. For example, data, instructions, commands, information,signals, bits, symbols, and chips that may be referenced throughout theabove description may be represented by voltages, currents,electromagnetic waves, magnetic fields or particles, optical fields orparticles, or any combination thereof.

Those of skill would further appreciate that the various illustrativelogical blocks, modules, circuits, and algorithm steps described inconnection with the embodiments disclosed herein may be implemented aselectronic hardware, computer software, or combinations of both. Toclearly illustrate this interchangeability of hardware and software,various illustrative components, blocks, modules, circuits, and stepshave been described above generally in terms of their functionality.Whether such functionality is implemented as hardware or softwaredepends upon the particular application and design constraints imposedon the overall system. Skilled artisans may implement the describedfunctionality in varying ways for each particular application, but suchimplementation decisions should not be interpreted as causing adeparture from the scope of the present invention.

The various illustrative logical blocks, modules, and circuits describedin connection with the embodiments disclosed herein may be implementedor performed with a general purpose processor, a digital signalprocessor (DSP), an application specific integrated circuit (ASIC), afield programmable gate array (FPGA) or other programmable logic device,discrete gate or transistor logic, discrete hardware components, or anycombination thereof designed to perform the functions described herein.A general-purpose processor may be a microprocessor, but in thealternative, the processor may be any conventional processor,controller, microcontroller, or state machine. A processor may also beimplemented as a combination of computing devices, e.g., a combinationof a DSP and a microprocessor, a plurality of microprocessors, one ormore microprocessors in conjunction with a DSP core, or any other suchconfiguration.

The steps of a method or algorithm described in connection with theembodiments disclosed herein may be embodied directly in hardware, in asoftware module executed by a processor, or in a combination of the two.A software module may reside in RAM memory, flash memory, ROM memory,EPROM memory, EEPROM memory, registers, hard disk, a removable disk, aCD-ROM, or any other form of storage medium known in the art. Anexemplary storage medium is coupled to the processor such the processorcan read information from, and write information to, the storage medium.In the alternative, the storage medium may be integral to the processor.The processor and the storage medium may reside in an ASIC. The ASIC mayreside in a user terminal. In the alternative, the processor and thestorage medium may reside as discrete components in a user terminal.

Headings are included herein for reference and to aid in locatingcertain sections. These headings are not intended to limit the scope ofthe concepts described with respect thereto. Such concepts may haveapplicability throughout the entire specification.

The previous description of the disclosed embodiments is provided toenable any person skilled in the art to make or use the presentinvention. Various modifications to these embodiments will be readilyapparent to those skilled in the art, and the generic principles definedherein may be applied to other embodiments without departing from thespirit or scope of the invention. Thus, the present invention is notintended to be limited to the embodiments shown herein but is to beaccorded the widest scope consistent with the principles and novelfeatures disclosed herein.

1. A system real-time position location of a mobile_object within anindoor multiple-floor facility, the system comprising: a plurality ofsensors, each sensor of the plurality of sensors generating a firstplurality of measurements, the first plurality of measurements includingdata from a plurality of sources, each source of the plurality ofsources generating a radiofrequency signal, the plurality of sourcescomprising a plurality of beacon emitters; a plurality of mobileobjects, each mobile object of the plurality of mobile objectscomprising a tag for generating a second plurality of measurements, thesecond plurality of measurements comprising data from the plurality ofsources, the tag of each mobile object of the plurality of mobileobjects receiving and measuring the characteristics of theradiofrequency signal of each source of the plurality of sources togenerate the data of the second plurality of measurements; and alocation positioning engine for receiving from each of the plurality ofsensors at least one of the first plurality of measurements and fromeach of the plurality of mobile objects at least one of the secondplurality of measurements, and generating and continuously updating areal-time mapped space of a radiofrequency environment of the indoormultiple-floor facility based on the data from the first plurality ofmeasurements utilizing a radial basis function and generating areal-time position location for at least one of the plurality of mobileobjects in accordance with the received first plurality of measurementsand the respective, received second plurality of measurements.
 2. Thesystem according to claim 1 further comprising at least one access pointfor receiving measurements form one or more of the plurality of mobileobjects and the plurality of sensors, and for transmitting the receivedmeasurements to the location positioning engine.
 3. The system accordingto claim 2 wherein the at least one the access point includes a beaconemitter, the beacon emitter generating radiofrequency signal.
 4. Thesystem according to claim 2 wherein the at least one access pointreceives measurements via a wireless interface.
 5. The system accordingto claim 2 wherein the at least one access point receives measurementsvia a wired interface.
 6. The system according to claim 1 wherein theplurality of sources further comprises at least one of the groupincluding noise sources, jammers and network monitors, each of whichgenerates a radiofrequency signal.
 7. A method for real-time positionlocation of a mobile object within an indoor multiple floor facility,the method comprising: generating at each of a plurality of networkmonitors a first plurality of measurements, the first plurality ofmeasurements comprising signal strength from each of the plurality ofemitters received by the plurality of network monitors, each of theplurality of network monitors attached to a wall outlet of the indoormultiple floor facility; wirelessly transmitting data of a secondplurality of measurements from a tag of at least one mobile object of aplurality of mobile objects to at least one of the plurality of networkmonitors; receiving at a location positioning engine through a pluralityof access points data of at least one of the first plurality ofmeasurements from the plurality of network monitors and data of at leastone of the second plurality of measurements from the tag of at least oneof the mobile objects of the plurality of mobile objects; generating andcontinuously updating a real-time mapped space of a radiofrequencyenvironment of the multiple-floor indoor facility based on the data ofthe first plurality of measurement utilizing a radial basis function;and generating a real-time position location in an X-Y-Z coordinate forat least one of the plurality of mobile objects in accordance with thereceived data of the second plurality of measurements and the real-timemapped space of the radiofrequency environment of the multiple-floorindoor facility.
 8. A system real-time position location of a mobileobject within an indoor multiple-floor facility, the system comprising:a plurality of beacon emitters, each of the plurality of beacon emittershaving means for generating a radiofrequency signal; a plurality ofsensors, each sensor of the plurality of sensors generating a firstplurality of measurements, the first plurality of measurementscomprising data form a plurality of sources, each source of theplurality of sources generating a radiofrequency signal, the pluralityof sources comprising the plurality of beacon emitters, each sensor ofthe plurality of sensors wirelessly transmitting the data of the firstplurality of measurements; a plurality of access points positioned inthe indoor multiple-floor facility, each of the plurality of accesspoints having means for receiving and transmitting data received fromeach of the plurality of sensors; a plurality of mobile objects, eachmobile object of the plurality of mobile objects comprising a tag forgenerating a second plurality of measurements and transmitting thesecond plurality of measurements, the second plurality of measurementscomprising data from the plurality of sources, the tag of each mobileobject of the plurality of mobile objects receiving and measuring thecharacteristics of the radiofrequency signal of each source of theplurality of sources to generate the data of the second plurality ofmeasurements; and a location positioning engine for generating andcontinuously updating a real-time mapped space of a radiofrequencyenvironment of the indoor multiple-floor facility based on the data fromthe first plurality of measurements utilizing a radial basis function,and for generating a position location for at least one of the pluralityof mobile objects in accordance with the received first plurality ofmeasurements and the respective, received second plurality ofmeasurements.
 9. The system according to claim 8 wherein the tag of eachof the plurality of mobile objects comprises a processor, a transceiver,a motion detector and a power supply, wherein the tag operates in a lowpower state and a high power state